Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 227 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 542 HEADING -1 ROLL_MAX 3901 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 227 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2880 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 1000 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 573.99261 R_PORT_OVSHOOT 52 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2820 DEVICE3 115

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 353 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 368 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -11205.13 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 73 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1850 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -48.034508 SEABIRD_T_H 0.00061853422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011816985 SEABIRD_T_I 2.1182957e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0754619e-06

MASS 52816 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 573.99261

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON -200

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 5

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 353

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -48.034508 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -11205.13

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 368

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1850 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2700 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2880 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2820 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 52 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE3 115 MAX_BUOY 150 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 227 MOTHERBOARD 4 SEABIRD_T_G 0.0042910837 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00061853422 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.1182957e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.0754619e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 130113,133806,-4704.330,410.697,27,1.7,27,-23.3 TGT_NAME GH1

_CALLS 1 TGT_LATLONG -4700.000,410.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.003,0.198

_SM_DEPTHo 1.13 KALMAN_X -159257.2,6.8,342.1,151054.4,-1045.9

_SM_ANGLEo -31.9 KALMAN_Y 107423.4,-653.0,-228.0,-130652.2,3753.3

GPS2 130113,134641,-4704.305,410.778,18,1.8,18,-23.3 MHEAD_RNG_PITCHd_Wd 24.2,8034,-22.3,-9.443

SPEED_LIMITS 0.164,0.256 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.7,1.014241 _10V_AH 10.1,20.535

SM_CCo 11540,185.50,0.789,1,0,479,573.99 FG_AHR_24Vo 0.000

SM_GC 1.38,0.00,0.00,185.50,0.000,0.000,0.789,59,2892,479,-5.60,0.37,573.99 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4648.08,413.02,130113,101016 MEM 353920

TT8_MAMPS 0.026215 DATA_FILE_SIZE 40384,576

HUMID 56.57 CAP_FILE_SIZE 103527,0

INTERNAL_PRESSURE 9.21877 CFSIZE 259252224,215441408

TCM_TEMP 10.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1

XPDR_PINGS 0 GPS 130113,170428,-4702.850,411.063,36,1.0,36,-23.3

_24V_AH 22.1,43.380

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 247 79.70 SBE_CT 380 24 201.85

Roll_motor 117 68 179.39 AA4330 1167 33 851.60

VBD_pump_during_apogee 296 1787 11704.98 WL_BB2FLVMT 647 105 1502.02

VBD_pump_during_surface 185 789 3236.51 QSP2150 261 4 25.30

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 58.98 nil 0 0 0.00

Iridium_during_connect 21 160 77.49 nil 0 0 0.00

Iridium_during_xfer 249 223 1229.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.62

TT8 1459 14 220.57

LPSleep 7710 2 170.55

TT8_Active 609 14 87.50

TT8_Sampling 1896 37 716.94

TT8_CF8 558 47 266.27

TT8_Kalman 33 59 19.93

Analog_circuits 1345 12 163.06

GPS_charging 0 0 0.00

Compass 1509 15 239.86

RAFOS 0 0 0.00

Transponder 1 5 0.05

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

31 -0.69 -84.8 0.0 0.0 0 168 0.00 0.00 -134.40 0.000 2 0.000 0.000 55 2843 3161 0 0 0 0 0 0

175 -0.77 -146.1 3.3 -3.3 17 194 6.40 2.15 -6.60 0.000 4 0.248 0.049 1603 1481 3419 0 0 0 0 0 0

349 -0.77 -146.1 32.4 -12.9 43 357 0.00 2.28 0.00 0.000 6 0.000 0.054 1595 2881 3419 0 0 0 0 0 0

594 -0.77 -146.1 77.0 -17.4 84 603 0.00 1.62 0.00 0.000 4 0.000 0.059 1587 3894 3419 0 0 0 0 0 0

634 -0.77 -146.1 84.4 -18.8 90 643 0.00 1.55 0.00 0.000 6 0.000 0.031 1587 2865 3419 0 0 0 0 0 0

977 -0.77 -146.1 142.6 -16.4 120 981 0.00 1.62 0.00 0.000 4 0.000 0.059 1579 3895 3419 0 0 0 0 0 0

1041 -0.77 -146.1 154.7 -17.0 123 1048 0.00 1.52 0.00 0.000 6 0.000 0.031 1579 2877 3420 0 0 0 0 0 0

1364 -0.77 -146.1 208.7 -16.9 144 1367 0.00 1.65 0.00 0.000 4 0.000 0.060 1571 3910 3420 0 0 0 0 0 0

1410 -0.77 -146.1 217.4 -17.6 146 1419 0.08 1.55 0.00 0.000 6 0.177 0.031 1593 2884 3421 0 0 0 0 0 0

1741 -0.77 -146.1 266.3 -14.5 166 1745 0.00 2.10 0.00 0.000 4 0.000 0.036 1593 1501 3421 0 0 0 0 0 0

1763 -0.77 -146.1 269.2 -14.7 167 1767 0.00 2.20 0.00 0.000 6 0.000 0.051 1584 2884 3421 0 0 0 0 0 0

2095 -0.77 -146.1 318.2 -14.9 183 2098 0.00 1.60 0.00 0.000 4 0.000 0.060 1576 3891 3421 0 0 0 0 0 0

2129 -0.77 -146.1 324.3 -16.1 184 2132 0.00 1.52 0.00 0.000 6 0.000 0.032 1576 2874 3421 0 0 0 0 0 0

2452 -0.77 -146.1 374.1 -15.4 200 2456 0.00 1.65 0.00 0.000 4 0.000 0.059 1568 3907 3421 0 0 0 0 0 0

2504 -0.77 -146.1 382.8 -15.9 202 2509 0.10 1.55 0.00 0.000 6 0.175 0.032 1597 2882 3421 0 0 0 0 0 0

2834 -0.77 -146.1 427.9 -13.8 215 2838 0.00 2.08 0.00 0.000 4 0.000 0.037 1597 1495 3421 0 0 0 0 0 0

2857 -0.77 -146.1 431.8 -14.4 215 2866 0.00 2.20 0.00 0.000 6 0.000 0.052 1588 2881 3421 0 0 0 0 0 0

3173 -0.77 -146.1 476.8 -14.7 226 3177 0.00 1.60 0.00 0.000 4 0.000 0.060 1580 3890 3420 0 0 0 0 0 0

3209 -0.77 -146.1 482.4 -15.3 227 3213 0.00 1.52 0.00 0.000 6 0.000 0.032 1581 2873 3420 0 0 0 0 0 0

3554 -0.77 -146.1 533.9 -15.3 238 3558 0.00 2.05 0.00 0.000 4 0.000 0.036 1580 1500 3420 0 0 0 0 0 0

3572 -0.77 -146.1 537.3 -15.5 238 3577 0.12 2.20 0.00 0.000 6 0.199 0.052 1599 2881 3420 0 0 0 0 0 0

3887 -0.77 -146.1 579.1 -13.2 248 3889 0.00 0.00 0.00 0.000 6 0.000 0.000 1599 2882 3420 0 0 0 0 0 0

4194 -0.77 -146.1 618.9 -12.9 258 4198 0.00 1.60 0.00 0.000 4 0.000 0.061 1592 3889 3420 0 0 0 0 0 0

4217 -0.77 -146.1 622.3 -13.1 258 4221 0.00 1.52 0.00 0.000 6 0.000 0.033 1592 2876 3420 0 0 0 0 0 0

4538 -0.77 -146.1 663.6 -12.8 269 4542 0.00 2.08 0.00 0.000 4 0.000 0.037 1592 1502 3419 0 0 0 0 0 0

4556 -0.77 -146.1 666.0 -12.3 269 4559 0.00 2.20 0.00 0.000 6 0.000 0.052 1582 2880 3419 0 0 0 0 0 0

4871 -0.77 -146.1 706.3 -13.0 279 4875 0.00 1.60 0.00 0.000 4 0.000 0.060 1574 3889 3419 0 0 0 0 0 0

4917 -0.77 -146.1 713.0 -14.7 280 4921 0.00 1.52 0.00 0.000 6 0.000 0.033 1574 2876 3418 0 0 0 0 0 0

5249 -0.77 -146.1 756.2 -12.8 291 5253 0.00 1.65 0.00 0.000 4 0.000 0.060 1567 3892 3418 0 0 0 0 0 0

5278 -0.77 -146.1 760.5 -13.5 291 5285 0.10 1.52 0.00 0.000 6 0.182 0.033 1595 2878 3418 0 0 0 0 0 0

5594 -0.77 -146.1 794.8 -10.9 302 5597 0.00 1.65 0.00 0.000 4 0.000 0.061 1588 3910 3418 0 0 0 0 0 0

5611 -0.77 -146.1 797.0 -11.2 302 5615 0.00 1.55 0.00 0.000 6 0.000 0.032 1588 2880 3418 0 0 0 0 0 0

5937 -0.77 -146.1 835.6 -12.1 313 5941 0.00 2.08 0.00 0.000 4 0.000 0.037 1588 1497 3417 0 0 0 0 0 0

5961 -0.77 -146.1 838.7 -12.7 313 5965 0.00 2.22 0.00 0.000 6 0.000 0.053 1578 2890 3417 0 0 0 0 0 0

6276 -0.77 -146.1 879.1 -13.0 323 6280 0.00 1.60 0.00 0.000 4 0.000 0.061 1570 3895 3417 0 0 0 0 0 0

6313 -0.77 -146.1 883.9 -14.0 324 6317 0.08 1.52 0.00 0.000 6 0.177 0.033 1592 2886 3416 0 0 0 0 0 0

6656 -0.77 -146.1 922.1 -10.7 335 6660 0.00 2.12 0.00 0.000 4 0.000 0.038 1592 1484 3416 0 0 0 0 0 0

6702 -0.77 -146.1 927.3 -9.8 336 6706 0.00 2.25 0.00 0.000 6 0.000 0.054 1583 2890 3416 0 0 0 0 0 0

7023 -0.77 -146.1 962.5 -11.2 347 7024 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2890 3416 0 0 0 0 0 0

7331 -0.77 -146.1 998.2 -11.6 357 7335 0.00 2.15 0.00 0.000 4 0.000 0.037 1583 1491 3416 0 0 0 0 0 0

7339 end dive: TARGET_DEPTH_EXCEEDED

state 7339 begin apogee

7351 -0.18 0.0 1000.2 11.7 357 7502 0.70 0.00 147.35 1.223 6 0.177 0.000 1778 2708 2819 0 0 0 0 0 0

7504 end apogee: CONTROL_FINISHED_OK

state 7504 begin climb

7509 0.77 146.1 1004.4 0.0 362 7671 0.95 2.47 148.90 1.788 4 0.086 0.041 2106 1315 2226 0 0 0 0 1 0

7708 0.77 146.1 968.1 25.3 368 7712 0.00 2.45 0.00 0.000 6 0.000 0.051 2105 2695 2224 0 0 0 0 0 0

8035 0.77 146.1 879.8 27.3 379 8039 0.00 2.25 0.00 0.000 4 0.000 0.043 2116 1312 2218 0 0 0 0 0 0

8075 0.77 146.1 868.5 25.5 380 8079 0.00 2.30 0.00 0.000 6 0.000 0.051 2116 2708 2216 0 0 0 0 0 0

8402 0.77 146.1 778.0 28.5 391 8406 0.00 2.20 0.00 0.000 4 0.000 0.043 2126 1311 2216 0 0 0 0 0 0

8420 0.77 146.1 772.3 28.1 391 8424 0.00 2.28 0.00 0.000 6 0.000 0.050 2127 2706 2215 0 0 0 0 0 0

8735 0.77 146.1 682.3 28.8 401 8739 0.00 2.20 0.00 0.000 4 0.000 0.042 2137 1312 2215 0 0 0 0 0 0

8772 0.77 146.1 671.8 28.0 402 8777 0.17 2.25 0.00 0.000 6 0.243 0.052 2099 2708 2214 0 0 0 0 0 0

9111 0.77 146.1 584.6 25.9 413 9115 0.00 2.20 0.00 0.000 4 0.000 0.042 2108 1313 2214 0 0 0 0 0 0

9129 0.77 146.1 579.5 25.6 413 9133 0.00 2.22 0.00 0.000 6 0.000 0.050 2104 2706 2214 0 0 0 0 0 0

9444 0.77 146.1 498.4 26.5 423 9448 0.00 2.20 0.00 0.000 4 0.000 0.042 2114 1306 2214 0 0 0 0 0 0

9484 0.77 146.1 487.9 23.5 424 9488 0.00 2.22 0.00 0.000 6 0.000 0.051 2114 2700 2213 0 0 0 0 0 0

9811 0.77 146.1 403.5 25.7 435 9815 0.00 2.15 0.00 0.000 4 0.000 0.044 2124 1314 2213 0 0 0 0 0 0

9834 0.77 146.1 397.1 24.8 435 9841 0.00 2.22 0.00 0.000 6 0.000 0.051 2124 2702 2213 0 0 0 0 0 0

10156 0.77 146.1 316.7 25.3 451 10160 0.00 2.17 0.00 0.000 4 0.000 0.042 2133 1312 2213 0 0 0 0 0 0

10168 0.77 146.1 312.1 25.7 451 10173 0.15 2.22 0.00 0.000 6 0.246 0.050 2099 2704 2213 0 0 0 0 0 0

10494 0.77 146.1 237.5 22.1 467 10498 0.00 2.17 0.00 0.000 4 0.000 0.042 2108 1313 2212 0 0 0 0 0 0

10518 0.77 146.1 231.3 22.5 468 10527 0.00 2.25 0.00 0.000 6 0.000 0.050 2104 2701 2212 0 0 0 0 0 0

10842 0.77 146.1 156.4 24.4 489 10846 0.00 2.17 0.00 0.000 4 0.000 0.043 2114 1303 2212 0 0 0 0 0 0

10856 0.77 146.1 152.3 25.0 490 10860 0.00 2.22 0.00 0.000 6 0.000 0.050 2114 2699 2212 0 0 0 0 0 0

11192 0.77 146.1 74.9 22.4 523 11197 0.00 1.90 0.00 0.000 4 0.000 0.059 2114 3891 2212 0 0 0 0 0 0

11232 0.77 146.1 65.4 25.1 529 11237 0.00 1.83 0.00 0.000 6 0.000 0.037 2122 2720 2211 0 0 0 0 0 0

11503 end climb: SURFACE_DEPTH_REACHED

state 11503 begin surface coast

11517 end surface coast: CONTROL_FINISHED_OK

state 11517 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	227	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2880	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	1000	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	573.99261	R_PORT_OVSHOOT	52	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2820	DEVICE3	115
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	353	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	368	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-11205.13	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	73	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1850	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-48.034508	SEABIRD_T_H	0.00061853422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011816985	SEABIRD_T_I	2.1182957e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0754619e-06
MASS	52816	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	130113,133806,-4704.330,410.697,27,1.7,27,-23.3	TGT_NAME	GH1
_CALLS	1	TGT_LATLONG	-4700.000,410.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.003,0.198
_SM_DEPTHo	1.13	KALMAN_X	-159257.2,6.8,342.1,151054.4,-1045.9
_SM_ANGLEo	-31.9	KALMAN_Y	107423.4,-653.0,-228.0,-130652.2,3753.3
GPS2	130113,134641,-4704.305,410.778,18,1.8,18,-23.3	MHEAD_RNG_PITCHd_Wd	24.2,8034,-22.3,-9.443
SPEED_LIMITS	0.164,0.256	D_GRID	1000

FINISH	0.7,1.014241	_10V_AH	10.1,20.535
SM_CCo	11540,185.50,0.789,1,0,479,573.99	FG_AHR_24Vo	0.000
SM_GC	1.38,0.00,0.00,185.50,0.000,0.000,0.789,59,2892,479,-5.60,0.37,573.99	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4648.08,413.02,130113,101016	MEM	353920
TT8_MAMPS	0.026215	DATA_FILE_SIZE	40384,576
HUMID	56.57	CAP_FILE_SIZE	103527,0
INTERNAL_PRESSURE	9.21877	CFSIZE	259252224,215441408
TCM_TEMP	10.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
XPDR_PINGS	0	GPS	130113,170428,-4702.850,411.063,36,1.0,36,-23.3
_24V_AH	22.1,43.380

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	247	79.70	SBE_CT	380	24	201.85
Roll_motor	117	68	179.39	AA4330	1167	33	851.60
VBD_pump_during_apogee	296	1787	11704.98	WL_BB2FLVMT	647	105	1502.02
VBD_pump_during_surface	185	789	3236.51	QSP2150	261	4	25.30
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	58.98	nil	0	0	0.00
Iridium_during_connect	21	160	77.49	nil	0	0	0.00
Iridium_during_xfer	249	223	1229.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.62
TT8	1459	14	220.57
LPSleep	7710	2	170.55
TT8_Active	609	14	87.50
TT8_Sampling	1896	37	716.94
TT8_CF8	558	47	266.27
TT8_Kalman	33	59	19.93
Analog_circuits	1345	12	163.06
GPS_charging	0	0	0.00
Compass	1509	15	239.86
RAFOS	0	0	0.00
Transponder	1	5	0.05

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
31	-0.69	-84.8	0.0	0.0	0	168	0.00	0.00	-134.40	0.000	2	0.000	0.000	55	2843	3161	0	0	0	0	0	0
175	-0.77	-146.1	3.3	-3.3	17	194	6.40	2.15	-6.60	0.000	4	0.248	0.049	1603	1481	3419	0	0	0	0	0	0
349	-0.77	-146.1	32.4	-12.9	43	357	0.00	2.28	0.00	0.000	6	0.000	0.054	1595	2881	3419	0	0	0	0	0	0
594	-0.77	-146.1	77.0	-17.4	84	603	0.00	1.62	0.00	0.000	4	0.000	0.059	1587	3894	3419	0	0	0	0	0	0
634	-0.77	-146.1	84.4	-18.8	90	643	0.00	1.55	0.00	0.000	6	0.000	0.031	1587	2865	3419	0	0	0	0	0	0
977	-0.77	-146.1	142.6	-16.4	120	981	0.00	1.62	0.00	0.000	4	0.000	0.059	1579	3895	3419	0	0	0	0	0	0
1041	-0.77	-146.1	154.7	-17.0	123	1048	0.00	1.52	0.00	0.000	6	0.000	0.031	1579	2877	3420	0	0	0	0	0	0
1364	-0.77	-146.1	208.7	-16.9	144	1367	0.00	1.65	0.00	0.000	4	0.000	0.060	1571	3910	3420	0	0	0	0	0	0
1410	-0.77	-146.1	217.4	-17.6	146	1419	0.08	1.55	0.00	0.000	6	0.177	0.031	1593	2884	3421	0	0	0	0	0	0
1741	-0.77	-146.1	266.3	-14.5	166	1745	0.00	2.10	0.00	0.000	4	0.000	0.036	1593	1501	3421	0	0	0	0	0	0
1763	-0.77	-146.1	269.2	-14.7	167	1767	0.00	2.20	0.00	0.000	6	0.000	0.051	1584	2884	3421	0	0	0	0	0	0
2095	-0.77	-146.1	318.2	-14.9	183	2098	0.00	1.60	0.00	0.000	4	0.000	0.060	1576	3891	3421	0	0	0	0	0	0
2129	-0.77	-146.1	324.3	-16.1	184	2132	0.00	1.52	0.00	0.000	6	0.000	0.032	1576	2874	3421	0	0	0	0	0	0
2452	-0.77	-146.1	374.1	-15.4	200	2456	0.00	1.65	0.00	0.000	4	0.000	0.059	1568	3907	3421	0	0	0	0	0	0
2504	-0.77	-146.1	382.8	-15.9	202	2509	0.10	1.55	0.00	0.000	6	0.175	0.032	1597	2882	3421	0	0	0	0	0	0
2834	-0.77	-146.1	427.9	-13.8	215	2838	0.00	2.08	0.00	0.000	4	0.000	0.037	1597	1495	3421	0	0	0	0	0	0
2857	-0.77	-146.1	431.8	-14.4	215	2866	0.00	2.20	0.00	0.000	6	0.000	0.052	1588	2881	3421	0	0	0	0	0	0
3173	-0.77	-146.1	476.8	-14.7	226	3177	0.00	1.60	0.00	0.000	4	0.000	0.060	1580	3890	3420	0	0	0	0	0	0
3209	-0.77	-146.1	482.4	-15.3	227	3213	0.00	1.52	0.00	0.000	6	0.000	0.032	1581	2873	3420	0	0	0	0	0	0
3554	-0.77	-146.1	533.9	-15.3	238	3558	0.00	2.05	0.00	0.000	4	0.000	0.036	1580	1500	3420	0	0	0	0	0	0
3572	-0.77	-146.1	537.3	-15.5	238	3577	0.12	2.20	0.00	0.000	6	0.199	0.052	1599	2881	3420	0	0	0	0	0	0
3887	-0.77	-146.1	579.1	-13.2	248	3889	0.00	0.00	0.00	0.000	6	0.000	0.000	1599	2882	3420	0	0	0	0	0	0
4194	-0.77	-146.1	618.9	-12.9	258	4198	0.00	1.60	0.00	0.000	4	0.000	0.061	1592	3889	3420	0	0	0	0	0	0
4217	-0.77	-146.1	622.3	-13.1	258	4221	0.00	1.52	0.00	0.000	6	0.000	0.033	1592	2876	3420	0	0	0	0	0	0
4538	-0.77	-146.1	663.6	-12.8	269	4542	0.00	2.08	0.00	0.000	4	0.000	0.037	1592	1502	3419	0	0	0	0	0	0
4556	-0.77	-146.1	666.0	-12.3	269	4559	0.00	2.20	0.00	0.000	6	0.000	0.052	1582	2880	3419	0	0	0	0	0	0
4871	-0.77	-146.1	706.3	-13.0	279	4875	0.00	1.60	0.00	0.000	4	0.000	0.060	1574	3889	3419	0	0	0	0	0	0
4917	-0.77	-146.1	713.0	-14.7	280	4921	0.00	1.52	0.00	0.000	6	0.000	0.033	1574	2876	3418	0	0	0	0	0	0
5249	-0.77	-146.1	756.2	-12.8	291	5253	0.00	1.65	0.00	0.000	4	0.000	0.060	1567	3892	3418	0	0	0	0	0	0
5278	-0.77	-146.1	760.5	-13.5	291	5285	0.10	1.52	0.00	0.000	6	0.182	0.033	1595	2878	3418	0	0	0	0	0	0
5594	-0.77	-146.1	794.8	-10.9	302	5597	0.00	1.65	0.00	0.000	4	0.000	0.061	1588	3910	3418	0	0	0	0	0	0
5611	-0.77	-146.1	797.0	-11.2	302	5615	0.00	1.55	0.00	0.000	6	0.000	0.032	1588	2880	3418	0	0	0	0	0	0
5937	-0.77	-146.1	835.6	-12.1	313	5941	0.00	2.08	0.00	0.000	4	0.000	0.037	1588	1497	3417	0	0	0	0	0	0
5961	-0.77	-146.1	838.7	-12.7	313	5965	0.00	2.22	0.00	0.000	6	0.000	0.053	1578	2890	3417	0	0	0	0	0	0
6276	-0.77	-146.1	879.1	-13.0	323	6280	0.00	1.60	0.00	0.000	4	0.000	0.061	1570	3895	3417	0	0	0	0	0	0
6313	-0.77	-146.1	883.9	-14.0	324	6317	0.08	1.52	0.00	0.000	6	0.177	0.033	1592	2886	3416	0	0	0	0	0	0
6656	-0.77	-146.1	922.1	-10.7	335	6660	0.00	2.12	0.00	0.000	4	0.000	0.038	1592	1484	3416	0	0	0	0	0	0
6702	-0.77	-146.1	927.3	-9.8	336	6706	0.00	2.25	0.00	0.000	6	0.000	0.054	1583	2890	3416	0	0	0	0	0	0
7023	-0.77	-146.1	962.5	-11.2	347	7024	0.00	0.00	0.00	0.000	6	0.000	0.000	1583	2890	3416	0	0	0	0	0	0
7331	-0.77	-146.1	998.2	-11.6	357	7335	0.00	2.15	0.00	0.000	4	0.000	0.037	1583	1491	3416	0	0	0	0	0	0
7339	end dive: TARGET_DEPTH_EXCEEDED
state	7339	begin apogee
7351	-0.18	0.0	1000.2	11.7	357	7502	0.70	0.00	147.35	1.223	6	0.177	0.000	1778	2708	2819	0	0	0	0	0	0
7504	end apogee: CONTROL_FINISHED_OK
state	7504	begin climb
7509	0.77	146.1	1004.4	0.0	362	7671	0.95	2.47	148.90	1.788	4	0.086	0.041	2106	1315	2226	0	0	0	0	1	0
7708	0.77	146.1	968.1	25.3	368	7712	0.00	2.45	0.00	0.000	6	0.000	0.051	2105	2695	2224	0	0	0	0	0	0
8035	0.77	146.1	879.8	27.3	379	8039	0.00	2.25	0.00	0.000	4	0.000	0.043	2116	1312	2218	0	0	0	0	0	0
8075	0.77	146.1	868.5	25.5	380	8079	0.00	2.30	0.00	0.000	6	0.000	0.051	2116	2708	2216	0	0	0	0	0	0
8402	0.77	146.1	778.0	28.5	391	8406	0.00	2.20	0.00	0.000	4	0.000	0.043	2126	1311	2216	0	0	0	0	0	0
8420	0.77	146.1	772.3	28.1	391	8424	0.00	2.28	0.00	0.000	6	0.000	0.050	2127	2706	2215	0	0	0	0	0	0
8735	0.77	146.1	682.3	28.8	401	8739	0.00	2.20	0.00	0.000	4	0.000	0.042	2137	1312	2215	0	0	0	0	0	0
8772	0.77	146.1	671.8	28.0	402	8777	0.17	2.25	0.00	0.000	6	0.243	0.052	2099	2708	2214	0	0	0	0	0	0
9111	0.77	146.1	584.6	25.9	413	9115	0.00	2.20	0.00	0.000	4	0.000	0.042	2108	1313	2214	0	0	0	0	0	0
9129	0.77	146.1	579.5	25.6	413	9133	0.00	2.22	0.00	0.000	6	0.000	0.050	2104	2706	2214	0	0	0	0	0	0
9444	0.77	146.1	498.4	26.5	423	9448	0.00	2.20	0.00	0.000	4	0.000	0.042	2114	1306	2214	0	0	0	0	0	0
9484	0.77	146.1	487.9	23.5	424	9488	0.00	2.22	0.00	0.000	6	0.000	0.051	2114	2700	2213	0	0	0	0	0	0
9811	0.77	146.1	403.5	25.7	435	9815	0.00	2.15	0.00	0.000	4	0.000	0.044	2124	1314	2213	0	0	0	0	0	0
9834	0.77	146.1	397.1	24.8	435	9841	0.00	2.22	0.00	0.000	6	0.000	0.051	2124	2702	2213	0	0	0	0	0	0
10156	0.77	146.1	316.7	25.3	451	10160	0.00	2.17	0.00	0.000	4	0.000	0.042	2133	1312	2213	0	0	0	0	0	0
10168	0.77	146.1	312.1	25.7	451	10173	0.15	2.22	0.00	0.000	6	0.246	0.050	2099	2704	2213	0	0	0	0	0	0
10494	0.77	146.1	237.5	22.1	467	10498	0.00	2.17	0.00	0.000	4	0.000	0.042	2108	1313	2212	0	0	0	0	0	0
10518	0.77	146.1	231.3	22.5	468	10527	0.00	2.25	0.00	0.000	6	0.000	0.050	2104	2701	2212	0	0	0	0	0	0
10842	0.77	146.1	156.4	24.4	489	10846	0.00	2.17	0.00	0.000	4	0.000	0.043	2114	1303	2212	0	0	0	0	0	0
10856	0.77	146.1	152.3	25.0	490	10860	0.00	2.22	0.00	0.000	6	0.000	0.050	2114	2699	2212	0	0	0	0	0	0
11192	0.77	146.1	74.9	22.4	523	11197	0.00	1.90	0.00	0.000	4	0.000	0.059	2114	3891	2212	0	0	0	0	0	0
11232	0.77	146.1	65.4	25.1	529	11237	0.00	1.83	0.00	0.000	6	0.000	0.037	2122	2720	2211	0	0	0	0	0	0
11503	end climb: SURFACE_DEPTH_REACHED
state	11503	begin surface coast
11517	end surface coast: CONTROL_FINISHED_OK
state	11517	begin surface